Related papers: Fully Distributed Flocking with a Moving Leader fo…

The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches to tackle various objectives, such as guidance, collision…

We consider large but finite systems of identical agents on the line with up to next nearest neighbor asymmetric coupling. Each agent is modelled by a linear second order differential equation, linearly coupled to up to four of its…

The movement of a flock with a single leader (and a directed path from it to every agent) can be stabilized. Nonetheless for large flocks perturbations in the movement of the leader may grow to a considerable size as they propagate…

We consider the problem of distributed learning, where a network of agents collectively aim to agree on a hypothesis that best explains a set of distributed observations of conditionally independent random processes. We propose a…

Distributed processing over networks relies on in-network processing and cooperation among neighboring agents. Cooperation is beneficial when agents share a common objective. However, in many applications agents may belong to different…

This paper presents a distributed model predictive control (DMPC) scheme for nonlinear continuous-time systems. The underlying distributed optimal control problem is cooperatively solved in parallel via a sensitivity-based algorithm. The…

In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…

Recently, considerable attention has been devoted to the prediction problems arising from heterogeneous information networks. In this paper, we present a new prediction task, Neighbor Distribution Prediction (NDP), which aims at predicting…

This paper presents a novel distributed algorithm for tracking a maneuvering target using bearing or direction of arrival measurements collected by a networked sensor array. The proposed approach is built on the dynamic average-consensus…

We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…

In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…

How to realize high-level autonomy of individuals is one of key technical issues to promote swarm intelligence of multi-agent (node) systems with collective tasks, while the fully distributed design is a potential way to achieve this goal.…

When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…

This paper studies the leaderless consensus problem of {heterogeneous} multiple networked Euler-Lagrange systems subject to persistent disturbances with unknown constant biases, amplitudes, initial phases, and frequencies. The main…

This papers studies multi-agent (convex and \emph{nonconvex}) optimization over static digraphs. We propose a general distributed \emph{asynchronous} algorithmic framework whereby i) agents can update their local variables as well as…

Broadcast networks are often used in modern communication systems. A common broadcast network is a single hop shared media system, where a transmitted message is heard by all neighbors, such as some LAN networks. In this work we consider a…

This paper presents a novel zone-based flocking control approach suitable for dynamic multi-agent systems (MAS). Inspired by Reynolds behavioral rules for $boids$, flocking behavioral rules with the zones of repulsion, conflict, attraction,…

This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…

We study asynchronous distributed decision-making for scalable multi-agent bandit submodular maximization. We are motivated by distributed information-gathering tasks in unknown environments and under heterogeneous inter-agent communication…

We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile…